Bag supply apparatus and bag supply method

ABSTRACT

A bag supply apparatus supplies a bag to a packaging machine for performing a packaging process to a bag containing a content. The bag supply apparatus includes a transfer apparatus, a detection apparatus, a takeout apparatus, and a delivery apparatus. The transfer apparatus transfers a bag containing the content, with its bag mouth being not yet sealed, in substantially a horizontal posture and along substantially a width direction of the bag, to a takeout area. The detection apparatus detects a bag on the transfer apparatus upstream of the takeout area. The takeout apparatus takes out a bag from the takeout area, with sandwiching both side edges of the bag positioned in the takeout area by a pair of sandwiching members. The delivery apparatus delivers a bag to the packaging machine. The takeout apparatus holds a bag based on a predicted position and an inclination of the bag, the predicted position being calculated from a transfer speed of the transfer apparatus and a difference between a current time and a time at which the bag was detected by the detection apparatus, and the inclination of the bag being calculated from a detection result of the detection apparatus.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2020-121491, filed on Jul. 15, 2020, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a bag supply apparatus and a bag supply method.

BACKGROUND ART

A packaging machine that performs a packaging process to a bag containing a content has been prevalently used. In a packaging process, a bag supply apparatus that supplies a packaging machine with a bag containing a content is typically used. In the bag supply apparatus, a bag containing a content is transferred by a transfer apparatus, such as a belt conveyor, to a predetermined position, and the bag is taken out from the transfer apparatus at the predetermined position to be delivered to a packaging machine.

JP2018-197127A discloses such a bag supply apparatus. In the bag supply apparatus, a bag filled with a solid matter, with its bag mouth being not yet sealed, is placed on a transfer means, and the bag is transferred in substantially a horizontal posture along a predetermined transfer route in substantially a width direction of the bag. At a takeout position set on the transfer route, both side edges near the bag mouth of the bag are sandwiched by a pair of sandwiching members, and then the bag is moved to a takeover position by the pair of sandwiching members along the predetermined transfer route. At this time, one vertical plane perpendicular to the transfer route is set as a reference plane. A distance between the pair of sandwiching members sandwiching the side edges of the bag having been transferred to the takeout position is adjusted for each bag correspondingly to the bag width which is detected near the bag mouth of the bag and is in a direction parallel to the transfer route, such that the center of the bag mouth of the bag having been transferred to the takeout position and the center of the pair of sandwiching members sandwiching the side edges of the bag are positioned on the reference plane. Thus, this is advantageous in that, regardless of values of a thickness and a rigidity of a film constituting a bag, a bag filled with a sold matter, with its bag mouth not yet being sealed, can be properly positioned, and both side edges of the bag can be evenly sandwiched by the pair of sandwiching members, whereby the bag can be reliably and stably supplied to a gripper of a packaging machine.

The packaging machine has a plurality of chambers, for example. Each chamber performs a bag packaging process, while intermittently repeating movement and stop in a certain cycle. In this case, it is necessary that bags are supplied from the transfer apparatus to the packaging machine at equal time intervals. Thus, in the bag supply apparatus disclosed in JP2018-197127A, bags filled with a sold matter, with their bag mouths not yet being sealed, are transferred by a belt conveyor at substantially the same distance intervals. These bags are taken out from the belt conveyor at regular time intervals, and then are supplied to the packaging machine.

When the distance intervals of bags transferred by the transfer apparatus are not equal to one another, the conventional bag supply apparatus may not deliver a bag from the transfer apparatus to the packaging machine at a desired timing. Namely, when a bag transferred by the transfer apparatus arrives at the takeout position earlier than a predetermined timing, there may be a waiting time until the bag is delivered to the packaging machine. On the other hand, when a bag arrives at the takeout position later than a predetermined timing, the bag may not be delivered to an intended chamber, so that the chamber may become vacant. This may lower a processing efficiency in the packaging machine.

DISCLOSURE OF THE INVENTION

The present invention has been made in consideration of the above circumstances. An object of the present invention is to provide a bag supply apparatus and a bag supply method which are capable of transferring bags from a transfer apparatus to a packaging machine at equal time intervals, even when distance intervals of bags transferred by the transfer apparatus are not equal.

A bag supply apparatus according to the present invention is a bag supply apparatus that supplies a packaging machine for performing a packaging process to a bag containing a content, with the bag, the bag supply apparatus comprising:

a transfer apparatus that transfers the bag containing the content, with its bag mouth being not yet sealed, in substantially a horizontal posture and along substantially a width direction of the bag, to a takeout area;

a detection apparatus that detects the bag on the transfer apparatus upstream of the takeout area;

a takeout apparatus that takes out the bag from the takeout area, with sandwiching both side edges of the bag positioned in the takeout area by a pair of sandwiching members; and

a delivery apparatus that delivers the bag to the packaging machine;

wherein the takeout apparatus holds the bag based on a predicted position and an inclination of the bag, the predicted position being calculated from a transfer speed of the transfer apparatus and a difference between a current time and a time at which the bag was detected by the detection apparatus, and the inclination of the bag being calculated from a detection result of the detection apparatus.

In the bag supply apparatus according to the present invention,

the bag supply apparatus may comprise a plurality of the takeout areas corresponding to a plurality of the packaging machines, and

the bag having been taken out from each takeout area may be delivered to each packaging machine corresponding to each takeout area.

In the bag supply apparatus according to the present invention,

the bag supply apparatus may comprise a plurality of the detection apparatuses, and

each detection apparatus may be disposed upstream of each takeout area correspondingly to each of the plurality of takeout areas.

A bag supply method according to the present invention is a bag supply method of supplying a packaging machine for performing a packaging process to a bag containing a content, with the bag, the bag supply method comprising:

a transfer step in which a plurality of the bags each containing the content, with its bag mouth being not yet sealed, at pitches unequal to one another respectively in substantially a horizontal posture and along substantially a width direction of the bag, to a takeout area;

a detection step in which the bag is detected upstream of the takeout area;

a takeout step in which the bag is taken out from the takeout area, with both side edges of the bag positioned in the takeout area being sandwiched by a pair of sandwiching members; and

a delivery step in which the bag having been taken out in the takeout step is delivered to the packaging machine;

wherein, in the takeout step, the bag is held based on a predicted position and an inclination of the bag, the predicted position being calculated from a transfer speed in the transfer step and a difference between a current time and a time at which the bag was detected in the detection step, and the inclination of the bag being calculated from a detection result of the detection step.

The present invention can provide a bag supply apparatus and a bag supply method which are capable of delivering bags from a transfer apparatus to a packaging machine at equal time intervals, even when distance intervals of bags transferred by the transfer apparatus are not equal.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view showing an overall structure of a packaging machine and a bag supply apparatus, for describing an embodiment of the present invention.

FIG. 2 is a side view of the bag supply apparatus shown in FIG. 1.

FIG. 3 is a partial top view of a takeout apparatus of the bag supply apparatus shown in FIG. 1.

FIG. 4 is a top view showing a modification example of the packaging machine and the bag supply apparatus.

FIG. 5 is a top view showing another modification example of the packaging machine and the bag supply apparatus.

DETAILED DESCRIPTION OF THE INVENTION

An embodiment of the present invention will be described herebelow with reference to the drawings. FIGS. 1 to 5 are views for describing the embodiment of the present invention. FIG. 1 is a plan view showing an overall structure of a packaging machine 10 and a bag supply apparatus 20.

As shown in FIG. 1, the bag supply apparatus 20 is installed near the packaging machine 10. The packaging machine 10 is similar to that disclosed in JP2013-244967A, for example, and comprises a table 11 that intermittently rotates (clockwise in FIG. 1) while repeating rotation and stop at a constant tempo, and a plurality of vacuum chambers 13 (in this case, ten chambers 13) installed equiangularly around the table 11. Each vacuum chamber 13 has a chamber body 13 a fixed to the table 11, and a chamber lid 13 b installed to be capable of opening and closing the chamber body 13 a.

The chamber bodies 13 a are radially arranged around the table 11 equidistantly, with their openings facing outward. As described in JP2013-244967A, the chamber lid 13 b is operated by an opening and closing mechanism, not shown, to open and close the opening of the chamber body 13 a. When closed, the chamber lid 13 b seals the chamber body 13 a at its opening periphery so as to form the vacuum chamber 13. The vacuum chamber 13 has therein a gripper, not shown, which holds a portion slightly below a part to be sealed of a bag 5 (see, for example, JP2538473B for details), and a seal apparatus composed of a table (chamber body 13 a side) which is moved forward and rearward by an air cylinder, not shown, and a heater (chamber lid 13 b side), not shown. A vacuum pipe (a part of the vacuum pipe is shown in FIG. 1 by reference numeral “15”) connected to a vacuum pump and a switching valve is coupled as a depressurization mechanism to the chamber body 13 a. A not-shown packing is installed all around a seal part (an opening periphery of the chamber lid 13 b) between the chamber body 13 a and the chamber lid 13 b.

In accordance with the intermittent rotation of the table 11, the vacuum chambers 13 are intermittently moved on a horizontal circular movement route (in FIG. 1, reference numerals S1 to S10 depict stop positions on the table 11). While the table 11 makes one rotation, various packaging steps, such as a step of receiving a bag 5 filled with a content 7, with its bag mouth being not yet sealed (a step of holding the bag 5 by the gripper), a step of closing the chamber lid 13 b, a step of decompressing an inside of the vacuum chamber 13, a step of sealing the bag mouth, etc., are performed in sequence. After the step of sealing the bag mouth, the inside of the vacuum chamber 13 is returned to an atmospheric pressure. Then, the chamber lid 13 b is opened, and the gripper opens to drop the bag 5 onto a conveyor 17. Thereafter, the bag 5 is transferred outside the machine. In FIG. 1, a reference numeral “19” depicts a pedestal of the packaging machine 10, and a reference numeral “80” depicts a control unit that controls operations of the packaging machine 10 and the bag supply apparatus 20.

FIG. 2 is a side view of the bag supply apparatus 20. The bag supply apparatus 20 comprises: a transfer apparatus 30 that transfers a bag 5 containing a content 7, with its bag mouth being not yet sealed, to a takeout area Ap; a detection apparatus 25 that detects a bag 5 on the transfer apparatus 30 upstream of the takeout area Ap; a takeout apparatus 40 that takes out a bag 5 from the takeout area Ap, with sandwiching both side edges 5 b, 5 b of the bag 5 positioned in the takeout area Ap by a pair of sandwiching members 56, 56; and a delivery apparatus 70 that delivers a bag 5 to the packaging machine 10.

The transfer apparatus 30 has a horizontal transfer surface, and transfers an object to be transferred (bag 5) by a not-shown drive source (servomotor) along a linear transfer route. A bag 5 filled with a content 7 is placed on the transfer apparatus 30. A bag mouth of the bag 5 placed on the transfer apparatus 30 is not sealed. In the example shown in FIG. 1, the bag mouth of the bag 5 is directed toward the packaging machine 10 side, so that a width direction (a direction along a bag mouth end edge 5 a or a direction perpendicular to the side edge 5 b of the bag) is substantially parallel to the transfer direction of the transfer apparatus 30.

In the example shown in FIG. 1, the transfer apparatus 30 has a first conveyor 31, a second conveyor 32, and a third conveyor 33, in this order from the upstream side (left side in FIG. 1). In the illustrated example, the respective conveyors 31 to 33 are formed as belt conveyors. A bag 5, which has been transferred downstream (rightward) by the first conveyor 31 to arrive at a terminal end (right end) of the first conveyor 31, is transshipped to the second conveyor 32, and is transferred downstream by the second conveyor 32. The takeout area Ap for taking out a bag 5 is set on the second conveyor 32. The bag 5 having arrived at the takeout area Ap is taken out by the takeout apparatus 40. A bag 5 which has not been taken out in the takeout area Ap is further transferred downstream by the second conveyor 32. The bag 5 having arrived at a terminal end (right end) of the second conveyor 32 is transshipped to the third conveyor 33, and is transferred downstream by the third conveyor 33. Then, the bag 5 is collected by a collection unit, not shown. In the illustrated example, the transfer direction of the first conveyor 31, the transfer direction of the second conveyor 32, and the transfer direction of the third conveyor 33 are substantially parallel to one another. However, not limited thereto, the transfer direction of the first conveyor 31, the transfer direction of the second conveyor 32, and the transfer direction of the third conveyor 33 may differ from one another. For example, the bag 5 having arrived at the terminal end of the first conveyor 31 may be transferred by the second conveyor 32 in a direction different from the transfer direction of the first conveyor 31 (e.g., a direction orthogonal thereto). Similarly, the bag 5 having arrived at the terminal end of the second conveyor 32 may be transferred by the third conveyor 33 in a direction different from the transfer direction of the second conveyor 32 (e.g., a direction orthogonal thereto).

The first conveyor 31, the second conveyor 32, and the third conveyor 33 have the same structure with one another except a width direction dimension. As shown in FIG. 2, each of the conveyors 31 to 33 comprises a frame 36, a mount 37 fixed on the frame 36, and a belt 39 going around the mount 37. By rotating the belt 39 in one direction, a bag 5 placed on the belt 39 is transferred. The first conveyor 31, the second conveyor 32, and the third conveyor 33 respectively transfer a bag 5 at a constant speed. In particular, the first conveyor 31, the second conveyor 32, and the third conveyor 33 may transfer a bag 5 at the same speed with one another.

In this embodiment, the width direction dimension of the second conveyor 32 is smaller than the width direction dimension of the first conveyor 31 and the width direction dimension of the third conveyor 33. In addition, the width direction dimension of the first conveyor 31 and the width direction dimension of the third conveyor 33 are the same with each other. The “width direction” of each of the conveyors 31 to 33 is a direction parallel to the horizontal direction, and is orthogonal to the transfer direction. When a bag 5 is transferred, the whole bag 5 is positioned on the conveyor belts of the first conveyor 31 and the third conveyer 33. On the other hand, on the second conveyor 32, a distal end (near the bag mouth) of the bag 5 protrudes outside from the belt 39. Thus, when the bag 5 is taken out by the takeout apparatus 40, both the side edges 5 b, 5 b, which are distal ends of the bag 5 protruding from the belt 39, can be sandwiched by the pair of sandwiching members 56, 56. As a result, when the bag 5 is taken out by the takeout apparatus 40, a part of the takeout apparatus 40 (e.g., sandwiching member 56, 56) can be prevented from hitting the second conveyor 32, whereby the bag 5 can be stably taken out by the takeout apparatus 40.

The detection apparatus 25 is installed to be positioned on the transfer route of the transfer apparatus 30 (second conveyor 32). The detection apparatus 25 may be formed by a camera (CCD image sensor, CMOS image sensor, etc.) installed above the second conveyor 32, for example. The detection apparatus 25 has a function of detecting a bag width near a bag mouth of a bag 5 being transferred (a bag width measured in a direction parallel to the transfer route) and its center position information, and of obtaining a time at which the position information was detected. To be more specific, the detection apparatus 25 detects that a front side edge 5 b of the bag 5 has entered a detection position (a position directly below the detection apparatus 25) (detection signal ON), and that a rear side edge 5 b of the bag 5 has passed the detection position (detection signal OFF). Based on the detection signal and rotation positions of the servomotor of the transfer apparatus 30 (second conveyor 32) at which the detection signal was turned on and off, the control unit 80 calculates (detects) the bag width and its center position information. The bag width of the bag 5 detected by the detection apparatus 25 is referred to as a bag width to be detected herebelow. In addition, a time at which the center of the bag 5 in the width direction passed the detection position is calculated from a time at which the front side edge 5 b of the bag 5 entered the detection position, and a time at which the rear side edge 5 b of the bag 5 passed the detection position. For example, a median time between a time at which the front side edge 5 b of the bag 5 entered the detection position and a time at which the rear side edge 5 b of the bag 5 passed the detection position is calculated as a time at which the center of the bag 5 in the width direction passed the detection position.

The width to be detected of a bag 5 is an apparent bag width (a bag width when the bag 5 is seen in a plan view), and the center of the width to be detected is similarly the center of the apparent bag width. A bag 5 filled with a content 7 is swollen in a thickness direction. Thus, the apparent bag width is smaller than a nominal width (a nominal width of a bag which is not filled with a content), and is likely to vary from bag to bag. Thus, an apparent bag width of a bag 5 and its center position information needs to be detected for each bag.

In addition, the detection apparatus 25 is configured to detect an inclination of a bag 5 in a horizontal plane. The inclination of the bag 5 can be detected by extracting a profile of the bag 5 from an image taken from above or below by a camera, and by analyzing the profile.

The takeout area Ap for taking a bag 5 is set on the transfer apparatus 30 (second conveyor 32). The takeout area Ap is set as a range from which a bag 5 can be taken out by the takeout apparatus 40.

The takeout apparatus 40 is an apparatus that takes out a bag 5 positioned in the takeout area Ap. In particular, the takeout apparatus 40 has the pair of sandwiching members 56, 56. The takeout apparatus 40 takes out a bag 5 from the takeout area Ap, with sandwiching both the side edges 5 b, 5 b of the bag 5 positioned in the takeout area Ap by the sandwiching members 56, 56. The takeout apparatus 40 has an arm unit 41, and a holding mechanism 50 for holding a bag 5, which is attached to a distal end of the arm unit 41.

In this embodiment, the arm unit 41 is formed of a multijoint arm robot. The arm unit 41 has a fixed base 43, a rotatable base 44, a first arm 45, a second arm 46, a third arm 47, and a connection unit 48. The fixed base 43 is a member fixed on a floor surface, and supports the rotatable base 44, the first arm 45, the second arm 46, the third arm 47, the connection unit 48, and the holding mechanism 50. The rotatable base 44 is supported rotatably about a vertically extending first axis A1 with respect to the fixed base 43. When the rotatable base 44 is driven by a not-shown drive source such as a motor, the rotatable base 44 rotates with respect to the fixed base 43, so that the first arm 45, the second arm 46, the third arm 47, the connection unit 48, and the holding mechanism 50 rotate about the first axis A1.

The first arm 45 is fixed to the rotatable base 44. The second arm 46 is attached rotatably about a second axis A2 with respect to the first arm 45. The third arm 47 is attached rotatably about a third axis A3 with respect to the second arm 46. The connection unit 48 is attached rotatably about a fourth axis A4 with respect to the third arm 47. In this embodiment, the second axis A2 to the fourth axis A4 extend horizontally. Thus, the second arm 46, the third arm 47, and the connection unit 48 swing in an up and down direction, when they are driven by the not-shown drive source such as a motor.

The connection unit 48 is a part that connects the third arm 47 and the holding mechanism 50. A part of the connection unit 48, which is connected to the holding mechanism 50, is configured to be rotatable about a fifth axis A5 (see FIG. 3) with respect to another part thereof, which is connected to the third arm 47. Thus, the holding mechanism 50 can rotate (swing) a bag 5 held by the holding mechanism 50 about an axis extending in a thickness direction of the bag 5.

Rotation motions about the first axis A1 to the fifth axis A5 in the arm unit 41 are controlled by the control unit 80.

The holding mechanism 50 is a mechanism for holding a bag 5 containing a content 7, with its bag mouth being not yet sealed. The holding mechanism 50 comprises a pair of swing arms 54, 54, the pair of sandwiching members 56, 56 installed on distal ends of the respective swing arms 54, and a servomotor 58 that widens or narrows a distance between the pair of swing arms 54, 54 (the pair of sandwiching members 56, 56). An arrangement direction of the pair of sandwiching members 56, 56 is parallel to the transfer route.

A specific structure of the holding mechanism 50 is described. A frame 62 is fixed on the connection unit 48 of the arm unit 41. Both ends of a screw shaft 64 are rotatably supported on the frame 62. The screw shaft 64 has, on right and left sides thereof, screw parts 64 a, 64 b that are threaded reversely to each other. A pulley 66 is fixed on a center portion of the screw shaft 64. The servomotor 58 is installed on the frame 62. A belt 69 extends between a drive pulley 68 fixed on a rotation shaft of the servomotor 58 and the pulley 66.

Each swing arm 54 has, on a proximal part thereof, an internal thread part 54 a (54 b) threadedly engaged with the screw part 64 a (64 b) of the screw shaft 64, and a hole 54 c through which a support shaft 60 passes. The sandwiching member 56 is installed on a distal end of each swing arm 54. Each sandwiching member 56 comprises a biparting sandwiching part 56 a, and an air cylinder 56 b that opens and closes the sandwiching part 56 a. In FIG. 3, the closed sandwiching member 56 a is shown by solid lines, and the opened sandwiching member 56 a is shown by two-dot chain lines.

When the servomotor 58 is actuated, the pair of swing arms 54, 54 come close to each other or separate from each other symmetrically in the right and left direction in FIG. 3 (parallel to the transfer route). In accordance therewith, the pair of sandwiching members 56, 56 come close to each other or separate from each other symmetrically in the right and left direction (the distance between the pair of sandwiching members 56, 56 narrows or widens). A sandwiching surface of the sandwiching member 56 becomes horizontal when a bag 5 is taken out in the takeout area Ap, and becomes vertical when the bag 5 is delivered to the delivery apparatus 70, by an operation of the arm unit 41.

The control unit 80 controls the servomotor 58 based on a width to be detected of a bag 5 (a bag width measured in a direction parallel to the transfer route) to adjust a distance between the pair of sandwiching members 56, 56 correspondingly to the width to be detected of the bag 5 (the larger the width to be detected of the bag 5 is, the larger the distance between the pair of sandwiching members 56, 56 becomes), in order that proper positions of both the side edges 5 b, 5 b of the bag 5 can be symmetrically sandwiched.

In addition, while the pair of sandwiching members 56, 56 (bag 5) are moving from the takeout area Ap to a delivery position to the delivery apparatus 70, or after the pair of sandwiching members 56, 56 (bag 5) have arrived at the delivery position, the control unit 80 controls the servomotor 58 such that the distance between the pair of sandwiching members 56, 56 is widened correspondingly to the nominal width of the bag 5 to strain the bag mouth of the bag 5. FIG. 3 shows a state in which the distance between the pair of sandwiching members 56, 56 has been widened at the delivery position, so that the bag mouth of the bag 5 is strained to be closed.

The delivery apparatus 70 receives a bag 5 from the holding mechanism 50, and moves the bag 5 horizontally to deliver it to the gripper of the packaging machine 10. The delivery apparatus 70 includes a slide member 72 that linearly reciprocates a predetermined distance in a horizontal plane by a not-shown drive source, and a chuck 74 installed on the slide member 72. The chuck 74 comprises a fixed chuck 74 a fixed on the slide member 72, and a movable chuck 74 b fixed on a shaft 76 rotatably supported by the slide member 72 (see FIG. 2). The delivery apparatus 70 further includes an air cylinder 78 installed on the slide member 72. A distal end of a piston rod 78 a of the air cylinder 78 is coupled to a lever 79 fixed on the shaft 76. When the air cylinder 78 is actuated (the piston rod 78 a expands or contracts), the chuck 74 opens or closes. When the slide member 72 reciprocates, the chuck 74 reciprocates between a standby position and a forward position along a horizontal linear movement route (this is also a movement route of the bag 5 held by the chuck 74).

Next, a bag supply method of supplying a bag 5 to the packaging machine 10 for performing a packaging process to a bag 5 containing a content 7 is described. First, a content 7 is filled into a bag 5 (filling step). Then, the bag 5 containing the content 7 is placed on the first conveyor 31 of the transfer apparatus 30 (placing step). In this embodiment, the bag 5 is placed on the first conveyor 31 such that the width direction of the bag 5 (a direction along the bag mouth end edge 5 a) is directed substantially parallel to the transfer direction of the first conveyor 31. Thus, in the transfer step, the bag 5 is transferred substantially in the width direction of the bag 5. In addition, the bag 5 is transferred in substantially a horizontal posture.

Transfer Step

A bag 5 containing a content 7, with its bag mouth being not yet sealed, is transferred by the transfer apparatus 30 to the takeout area Ap. In particular, in this embodiment, distance intervals between the bags 5 transferred by the transfer apparatus 30 are not equal. Namely, a plurality of the bags 5 are transferred at unequal pitches. A bag 5, which has been transferred downstream (rightward in FIG. 1) by the first conveyor 31 to arrive at at the terminal end (right end in FIG. 1) of the first conveyor 31 is transshipped to the second conveyor 32, and is transferred downstream by the second conveyor 32. The takeout area 40 for taking out a bag 5 is set on the second conveyor 32. The bag 5 having arrived at the takeout area Ap is taken out by the takeout apparatus 40. A bag 5 which has not been taken out in the takeout area Ap is further transferred downstream by the second conveyor 32. The bag 5 having arrived at the second conveyor 32 is transshipped to the third conveyor 33, and is transferred downstream by the third conveyor 33. Then, the bag 5 is collected by a collection unit, not shown.

Detection Step

When the bag 5 has arrived at the detection apparatus 25 positioned upstream of the takeout area Ap, the detection apparatus 25 detects a bag width near the bag mouth of the bag 5 being transferred (a bag width measured in a direction parallel to the transfer route) and its center position information, and obtains a time at which the position information was detected. The detection apparatus 25 detects that a front side edge 5 b of the bag 5 has entered the detection position (a position directly below the detection apparatus 25) (detection signal ON), and that the rear side edge 5 b of the bag 5 has passed the detection position (detection signal OFF). Based on the detection signal and rotation positions of the servomotor of the transfer apparatus 30 (second conveyor 32) at which the detection signal was turned on and off, the control unit 80 calculates (detects) the bag width and its center position information. In addition, a time at which the center of the bag 5 in the width direction passed the detection position is calculated from a time at which the front side edge 5 b of the bag 5 entered the detection position, and a time at which the rear side edge 5 b of the bag 5 passed the detection position. In this embodiment, the time at which the center of the bag 5 in the width direction passed the detection position is regarded as a time at which the bag 5 was detected by the detection apparatus 25 and in the detection step.

In this embodiment, an inclination of the bag 5 in a horizontal plane is detected in the detection step. The inclination of the bag 5 can be detected by extracting a profile of the bag 5 from an image taken from above or below by a camera, and by analyzing the profile.

Takeout Step

As the bag 5 is further transferred by the transfer apparatus 30, the bag 5 arrives at the takeout area Ap. In the takeout area Ap, both the side edges 5 b, 5 b of the bag 5 are sandwiched by the pair of sandwiching members 56, 56 of the takeout apparatus 40. Then, the bag 5 is taken out from the takeout area Ap.

In the packaging machine 10, the plurality of vacuum chambers 13 are intermittently rotated while repeating rotation and stop at a constant tempo. A timing at which the delivery apparatus 70 delivers a bag 5 to the vacuum chamber 13 of the packaging machine 10 is determined correspondingly to a timing at which the vacuum chamber 13 arrives at the delivery position of the bag 5 (S1 of FIG. 1). Namely, the delivery apparatus 70 delivers the bags 5 to the vacuum chambers 13 at equal time intervals. In addition, a timing at which the takeout apparatus 40 takes out a bag 5 from the takeout area Ap is determined correspondingly to a timing at which the delivery apparatus 70 becomes capable of receiving a bag 5 from the takeout apparatus 40. Namely, it is necessary for the takeout apparatus 40 to deliver bags 5 to the delivery apparatus 70 at equal time intervals. In particular, the takeout apparatus 40 delivers bags 5 to the delivery apparatus 70 at equal time intervals, in accordance with an intermittent rotation tempo of the plurality of vacuum chambers 13 in the packaging machine 10.

When a plurality of bags 5 are transferred by the transfer apparatus 30 at equal distance intervals, the takeout apparatus 40 can take out the bags 5 from the transfer apparatus 30 at a predetermined position at equal time intervals. On the other hand, when the distance intervals of the bags 5 transferred by the transfer apparatus 30 are not equal, i.e., when the plurality of bags 5 are transferred at pitches unequal to one another, the takeout apparatus 40 cannot take out the bags 5 from the transfer apparatus 30 at a predetermined position at regular time intervals. Thus, in this embodiment, in order that bags 5 can be taken out from the transfer apparatus 30 at equal time intervals, where a bag 5 is located on the transfer apparatus 30 at a timing at which the bag 5 is to be taken out from the transfer apparatus 30 is predicted, and the bag 5 is taken out at the predicted position. To be specific, the control unit 80 calculates a predicted position from a transfer speed in the transfer step (the transfer apparatus 30, in particular, the second conveyor 32), and a difference between a current time and a time at which the bag 5 is detected in the detection step (detection apparatus 25). Based on the calculated predicted position, the bag 5 is held.

The control unit 80 obtains, from the detection apparatus 25, a time at which the center of the bag 5 in the width direction passed the detection position. Then, the control unit 80 calculates, from this time and a current time, an elapse time from when the center of the bag 5 in the width direction passed the detection position up to the current time. In addition, the control unit 80 obtains, from the second conveyor 32, a transfer speed of the second conveyor 32. Based on the elapse time and the transfer speed of the second conveyor 32, the control unit 80 calculates a movement distance of the bag 5 from the detection potion of the detection apparatus 25 at the current time. Thus, it can be predicted that the center of the bag 5 in the width direction is located at a position distant from the detection position of the detection apparatus 25 by this movement distance.

In addition, the control unit 80 obtains, from the detection apparatus 25, information about an inclination of the bag 5. The control unit 80 predicts the inclination of the bag 5 at the aforementioned predicted position, on the assumption that the bag 5 has the same inclination at the aforementioned predicted position as the inclination of the bag 5 in the detection step.

The control unit 80 moves the pair of sandwiching members 56, 56 of the takeout apparatus 40, based on the predicted position and the predicted inclination of the bag 5. At this time, the sandwiching parts 56 a, 56 a of the pair of sandwiching members 56, 56 open. Based on the bag width to be detected of the bag 5 detected by the detection apparatus 25, the control unit 80 controls the servomotor 58 to adjust a distance between the pair of sandwiching members 56, 56 correspondingly to the bag width to be detected of the bag 5. In addition, by rotating the holding mechanism 50 (sandwiching members 56, 56) about the fifth axis A5, the holding mechanism 50 is inclined in accordance with the predicted inclination of the bag 5. The adjustment of the distance and the inclination of the pair of sandwiching members 56, 56 is performed in the course of movement of the pair of sandwiching members 56, 56 toward the predicted position, and is preferably completed before the pair of sandwiching members 56, 56 arrive at the predicted position.

When the pair of sandwiching members 56, 56 have arrived at the predicted position, the air cylinders 56 b of the pair of sandwiching members 56, 56 are actuated to close the sandwiching parts 56 a, 56 a so as to sandwich both the side edges 5 b, 5 b of the bag 5. Following thereto, the arm unit 41 is actuated, so that the pair of sandwiching members 56, 56 and the bag 5 are moved toward the delivery position to the delivery apparatus 70. During this movement, the bag 5 sandwiched by the pair of sandwiching members 56, 56 is changed from a horizontal posture to a perpendicular posture (the bag mouth facing upward). Then, when the pair of swing arms 54, 54 take a horizontal posture, the pair of sandwiching members 56, 56 and the bag 5 arrive at the delivery position to the delivery apparatus 70, and the bag 5 sandwiched by the pair of sandwiching members 56, 56 takes the perpendicular posture (see FIG. 2).

While the pair of sandwiching members 56, 56 (bag 5) are moving from the transfer apparatus 30 to the delivery position to the delivery apparatus 70, the control unit 80 preferably controls the servomotor 58 to widen the distance between the pair of sandwiching members 56, 56 in accordance with the nominal width of the bag 5, so that the bag mouth of the bag 5 is strained. This step may be performed after the pair of sandwiching members 56, 56 (bag 5) have arrived at the delivery position to the delivery apparatus 70. Instead of widening the distance between the pair of sandwiching members 56, 56 in accordance with the nominal width of the bag 5, as described above, when the distance between the pair of sandwiching members 56, 56 is widened, a torque applied to the servomotor 58 may be detected. In this case, when the torque reaches a predetermined value, the operation of the servomotor 58 is stopped.

Delivery Step

When the pair of sandwiching members 56, 56 (bag 5) have arrived at the delivery position to the delivery apparatus 70, the air cylinder 78 of the delivery apparatus 70 is actuated, so that the chuck 74 closes to hold an upper end (bag mouth) of the bag 5. Then, the pair of sandwiching members 56, 56 sandwiching both the side edges 5 b, 5 b of the bag 5 are opened to release the bag 5. Thereafter, the slide member 72 of the delivery apparatus 70 moves forward, so that the chuck 74 and the bag 5 move (forward) from the standby position toward the forward position. When the chuck 74 and the bag 5 have arrived at the forward position, the gripper of the vacuum chamber 13 stopped at the stop position S1 (see FIG. 1) closes to hold the upper end (a part directly below the part held by the chuck 74) of the bag 5, and the chuck 74 then opens to release the bag 5. The chuck 74 having released the bag 5 is moved (rearward) toward the standby position.

Packaging Step

The bag 5 held by the gripper of the vacuum chamber 13 is subjected to predetermined packaging processes in the vacuum chamber 13, such as a decompression process, a bag mouth sealing process, etc., in accordance with an intermittent movement of the vacuum chamber 13. When the vacuum chamber 13 stops at a stop position S8 and the gripper opens, the packaged bag (product) 9 drops onto the conveyor 17.

The bag supply apparatus 20 in this embodiment is a bag supply apparatus 20 that supplies a packaging machine 10 for performing a packaging process to a bag 5 containing a content 7, with the bag 5, the bag supply apparatus 20 comprising: a transfer apparatus 30 that transfers the bag 5 containing the content 7, with its bag mouth being not yet sealed, in substantially a horizontal posture and along substantially a width direction of the bag 5, to a takeout area Ap; a detection apparatus 25 that detects the bag 5 on the transfer apparatus 30 upstream of the takeout area Ap; a takeout apparatus 40 that takes out the bag 5 from the takeout area Ap, with sandwiching both side edges 5 b, 5 b of the bag 5 positioned in the takeout area Ap by a pair of sandwiching members 56, 56; and a delivery apparatus 70 that delivers the bag 5 to the packaging machine 10; wherein the takeout apparatus 40 holds the bag 5 based on a predicted position and an inclination of the bag 5, the predicted position being calculated from a transfer speed of the transfer apparatus 30 and a difference between a current time and a time at which the bag 5 was detected by the detection apparatus 25, and the inclination of the bag 5 being calculated from a detection result of the detection apparatus 25.

In addition, the bag supply method in this embodiment is a bag supply method of supplying a packaging machine 10 for performing a packaging process to a bag 5 containing a content 7, with the bag 5, the bag supply method comprising: a transfer step in which a plurality of the bags 5 each containing the content 7, with its bag mouth being not yet sealed, at pitches unequal to one another respectively in substantially a horizontal posture and along substantially a width direction of the bag 5, to a takeout area Ap; a detection step in which the bag 5 is detected upstream of the takeout area Ap; a takeout step in which the bag 5 is taken out from the takeout area Ap, with both side edges 5 b, 5 b of the bag 5 positioned in the takeout area Ap being sandwiched by a pair of sandwiching members 56, 56; and a delivery step in which the bag 5 having been taken out in the takeout step Ap is delivered to the packaging machine 10; wherein, in the takeout step, the bag is held based on a predicted position and an inclination of the bag 5, the predicted position being calculated from a transfer speed in the transfer step and a difference between a current time and a time at which the bag 5 was detected in the detection step, and the inclination of the bag 5 being calculated from a detection result of the detection step.

According to such a bag supply apparatus 20 and such a bag supply method, even when a plurality of bags 5 at pitches unequal to one another, the bags 5 can be taken out from the transfer apparatus 30 at equal time intervals. Thus, the bags 5 can be delivered from the takeout apparatus 40 to the delivery apparatus 70 at equal time intervals, whereby the bags 5 can be delivered from the delivery apparatus 70 to the packaging machine 10 at equal time intervals. Namely, even when the distance intervals of the bags 5 transferred by the transfer apparatus 30 are not equal, the bags 5 can be delivered from the transfer apparatus 30 to the packaging machine 10 at equal time intervals. Thus, a processing efficiency of the packaging machine 10 can be effectively improved. According to the bag supply apparatus 20 and the bag supply method in this embodiment, also when the distance intervals of the bags 5 transferred by the transfer apparatus 30 are equal, the bags 5 can be naturally delivered from the transfer apparatus 30 to the packaging machine 10 at equal time intervals. In addition, according to such a bag supply apparatus 20 and such a bag supply method, even when a bag 5 is inclined with respect to the transfer direction of the transfer apparatus 30, the pair of sandwiching members 56, 56 of the takeout apparatus 40 can be inclined correspondingly to the inclination so as to hold the bag 5. Thus, the bag 5 can be stably taken out.

The aforementioned embodiment can be variously modified. Modification examples are described below with reference to the drawings. In the below description and the drawings used in the below description, a part that can be similarly constituted to the above embodiment has the same symbol as that of corresponding part the above embodiment, and overlapped description is omitted.

FIG. 4 is a top view showing a modification example of the packaging machine 10 and the bag supply apparatus 20. In this modification example, the bag supply apparatus 20 has a plurality of takeout areas Ap corresponding to a plurality of the packaging machines 10. A bag 5 having been taken out from each takeout areas Ap is delivered to each packaging machine 10 corresponding to each takeout areas Ap.

In the example shown in FIG. 4, the bag supply apparatus 20 has a plurality of the detection apparatuses 25. Each detection apparatus 25 is located upstream of each takeout area Ap correspondingly to each of the plurality of takeout areas Ap.

To be specific, in the example shown in FIG. 4, two packaging machines 10, i.e., a first packaging machine 101 and a second packaging machine 102, are disposed. The bag supply apparatus 20 includes a first bag supply apparatus 201 corresponding to the first packaging machine 101, and a second bag supply apparatus 202 corresponding to the second packaging machine 102. The first bag supply apparatus 201 has a first takeout apparatus 401, and the second bag supply apparatus 202 has a second takeout apparatus 402. The transfer apparatus 30 includes a first conveyor 31, a second conveyor 32, a third conveyor 33, a fourth conveyor 34, and a fifth conveyor 35. The fourth conveyor 34 is formed similarly to the second conveyor 43, and the fifth conveyor 35 is formed similarly to the first conveyor 31 and the third conveyor 33. In addition, a first takeout area Ap1 is set on the second conveyor 32 correspondingly to the first packaging machine 101, and a second takeout area Ap2 is set on the fourth conveyor 34 correspondingly to the second packaging machine 102. The first takeout area Ap1 is set as a range from which a bag 5 can be taken out by the first takeout apparatus 401, and the second takeout area Ap2 is set as a range from which a bag 5 can be taken out by the second takeout apparatus 402.

A first detection apparatus 251 is disposed upstream of the first takeout area Ap1, and a second detection apparatus 252 is disposed upstream of the second takeout area Ap2. The first takeout apparatus 401 holds a bag 5 based on a predicted position calculated from a transfer speed of the second conveyor 32, and a difference between a current time and a time at which the bag 5 was detected by the first detection apparatus 251. In addition, the second takeout apparatus 402 holds a bag 5 based on a predicted position calculated from a transfer speed of the fourth conveyor 34, and a difference between a current time and a time at which the bag 5 was detected by the second detection apparatus 252.

According to the modification example, a packaging process of the plurality of bags 5 transferred by one transfer apparatus 30 can be performed by a plurality of packaging machines. Thus, a packaging process of bags 5 can be efficiently performed. In addition, bags 5 can be delivered from the common transfer apparatus 30 to the plurality of packaging machines 10. Thus, an overall footprint of the packaging machine 10 and the bag supply apparatus 20 can be made smaller.

FIG. 5 is a top view showing another modification example of the packaging machine 10 and the bag supply apparatus 20. The example shown in FIG. 5 differs from the modification example described with reference to FIG. 4 in that a plurality of the transfer apparatuses 30 are installed. Particularly in the example shown in FIG. 5, two transfer apparatuses 30, i.e., a first transfer apparatus 301 and a second transfer apparatus 302, are installed.

According to such a bag supply apparatus 20, since the plurality of transfer apparatuses 30 are installed, many more bags 5 can be transferred, whereby a packaging process of bags 5 can be further efficiently performed.

In the aforementioned embodiment, the takeout apparatus 40 and the delivery apparatus 70 are formed as apparatuses separate from each other. However, not limited thereto, the takeout apparatus 40 and the delivery apparatus 70 may be formed as one apparatus. Namely, the takeout apparatus 40 may serve as the delivery apparatus 70, and the takeout apparatus 40 may deliver a bag 5 directly to the vacuum chamber 13 of the packaging machine 10.

A content 7 filled in a bag 5 may be solid or fluid. In addition, a content 7 may be one or more soft packaging bodies (e.g., pouch) filled with a liquid substance, etc. 

What is claimed is:
 1. A bag supply apparatus that supplies a packaging machine for performing a packaging process to a bag containing a content, with the bag, the bag supply apparatus comprising: a transfer apparatus that transfers the bag containing the content, with its bag mouth being not yet sealed, in substantially a horizontal posture and along substantially a width direction of the bag, to a takeout area; a detection apparatus that detects the bag on the transfer apparatus upstream of the takeout area; a takeout apparatus that takes out the bag from the takeout area, with sandwiching both side edges of the bag positioned in the takeout area by a pair of sandwiching members; and a delivery apparatus that delivers the bag to the packaging machine; wherein the takeout apparatus holds the bag based on a predicted position and an inclination of the bag, the predicted position being calculated from a transfer speed of the transfer apparatus and a difference between a current time and a time at which the bag was detected by the detection apparatus, and the inclination of the bag being calculated from a detection result of the detection apparatus.
 2. The bag supply apparatus according to claim 1, comprising a plurality of the takeout areas corresponding to a plurality of the packaging machines, wherein the bag having been taken out from each takeout area is delivered to each packaging machine corresponding to each takeout area.
 3. The bag supply apparatus according to claim 2, comprising a plurality of the detection apparatuses, wherein each detection apparatus is disposed upstream of each takeout area correspondingly to each of the plurality of takeout areas.
 4. A bag supply method of supplying a packaging machine for performing a packaging process to a bag containing a content, with the bag, the bag supply method comprising: a transfer step in which a plurality of the bags each containing the content, with its bag mouth being not yet sealed, at pitches unequal to one another respectively in substantially a horizontal posture and along substantially a width direction of the bag, to a takeout area; a detection step in which the bag is detected upstream of the takeout area; a takeout step in which the bag is taken out from the takeout area, with both side edges of the bag positioned in the takeout area being sandwiched by a pair of sandwiching members; and a delivery step in which the bag having been taken out in the takeout step is delivered to the packaging machine; wherein, in the takeout step, the bag is held based on a predicted position and an inclination of the bag, the predicted position being calculated from a transfer speed in the transfer step and a difference between a current time and a time at which the bag was detected in the detection step, and the inclination of the bag being calculated from a detection result of the detection step. 